robokudo.io.camera_interface¶

Camera interface module for RoboKudo.

This module provides base classes and implementations for interfacing with various camera types in RoboKudo. It supports:

ROS camera interfaces (raw and compressed)
Kinect-style RGB-D cameras
Camera calibration handling
Transform lookups
Synchronized data acquisition
Thread-safe operation

The module handles:

RGB and depth image acquisition
Camera calibration information
Camera-to-world transforms
Data synchronization
Format conversions

Classes¶

`CameraInterface`	Base class for all camera interfaces in RoboKudo.
`ROSCameraInterface`	Base class for ROS-based camera interfaces.
`KinectCameraInterface`	Interface for Kinect-style RGB-D cameras using ROS.

Functions¶

depth_convert_workaround(→ numpy.typing.NDArray)

Convert compressed depth image to proper depth format.

Module Contents¶

class robokudo.io.camera_interface.CameraInterface(camera_config: typing_extensions.Any)¶

Bases: object

Base class for all camera interfaces in RoboKudo.

This class defines the basic interface that all camera implementations must provide. It handles configuration and data availability tracking.

_has_new_data: bool = False¶: Whether new data is available

camera_config: typing_extensions.Any¶: Camera configuration object

rk_logger: logging.Logger = None¶: RoboKudo logger instance

has_new_data() → bool¶

Check if new data is available.

Returns:: True if new data is available, False otherwise

abstract set_data(cas: robokudo.cas.CAS) → None¶

This method is supposed to read in, convert (if needed) and put the data into the CAS. If you are running a CameraInterface which is getting data via callback methods, please make sure to keep callbacks light and do the main conversion work here! Callbacks should be short.

Parameters:: cas – The CAS where the data should be placed in

class robokudo.io.camera_interface.ROSCameraInterface(camera_config: typing_extensions.Any, node: typing_extensions.Optional[rclpy.node.Node] = None)¶

Bases: CameraInterface

Base class for ROS-based camera interfaces.

This class extends the base camera interface with ROS-specific functionality like transform lookups and camera intrinsics handling.

node = None¶: ROS node for communication with ROS

cam_translation: typing_extensions.Optional[typing_extensions.List[float]] = None¶: Camera translation from TF

cam_quaternion: typing_extensions.Optional[typing_extensions.List[float]] = None¶: Camera rotation from TF

lookup_transform() → bool¶

Look up the camera transform from TF.

Returns:: True if transform lookup succeeded, False otherwise

store_cam_to_world_transform(cas: robokudo.cas.CAS, timestamp: builtin_interfaces.msg.Time) → None¶

If the camera is configured to look up transforms, store the camera transform in the CAS.

Parameters:

cas – The CAS to store the transform in
timestamp – The timestamp of the transform

static store_legacy_cam_to_world_transform_from_cas(cas: robokudo.cas.CAS) → None¶

Create legacy StampedTransform from CAS cam_to_world_transform and data_timestamp.

Parameters:: cas – The CAS to store the transform in

set_o3d_cam_intrinsics_from_ros_cam_info() → None¶

Convert ROS camera info to Open3D camera intrinsics.

Creates an Open3D camera intrinsics object from the ROS camera calibration parameters.

robokudo.io.camera_interface.depth_convert_workaround(msg: sensor_msgs.msg.CompressedImage) → numpy.typing.NDArray¶

Convert compressed depth image to proper depth format.

This is a workaround for handling compressed depth images in ROS. Source: https://answers.ros.org/question/249775/display-compresseddepth-image-python-cv2/

Parameters:: msg – Compressed depth image message
Returns:: Depth image as numpy array
Raises:: Exception – If compression type is wrong or decoding fails

class robokudo.io.camera_interface.KinectCameraInterface(camera_config: typing_extensions.Any)¶

Bases: ROSCameraInterface

Interface for Kinect-style RGB-D cameras using ROS.

This class implements a camera interface for RGB-D cameras that publish color and depth images through ROS topics. It supports both raw and compressed image formats.

color_subscriber: message_filters.Subscriber¶: Color image subscriber

depth_subscriber: message_filters.Subscriber¶: Depth image subscriber

cam_info_subscriber: message_filters.Subscriber¶: Camera info subscriber

color: typing_extensions.Optional[numpy.typing.NDArray] = None¶: Latest color image

depth: typing_extensions.Optional[numpy.typing.NDArray] = None¶: Latest depth image

cam_info: typing_extensions.Optional[sensor_msgs.msg.CameraInfo] = None¶: Latest camera info message

cam_intrinsic: typing_extensions.Optional[open3d.camera.PinholeCameraIntrinsic] = None¶: Open3D camera intrinsics

color2depth_ratio: typing_extensions.Optional[typing_extensions.Tuple[float, float]] = None¶: Ratio between color and depth image sizes

timestamp: typing_extensions.Optional[float] = None¶: Latest message timestamp

lock: threading.Lock¶: Thread synchronization lock

compressed_depth_configured() → bool¶

Check if compressed depth images are configured.

Returns:: True if compressed depth is configured, False otherwise

compressed_color_configured() → bool¶

Check if compressed color images are configured.

Returns:: True if compressed color is configured, False otherwise

get_node() → rclpy.node.Node¶

blackhole_callback(data: typing_extensions.Any) → None¶

This callback is just a dummy to receive data coming from a workaround subscription to handle problems with the ApproximateTimeSynchronizer

Parameters:: data – Dummy data

callback(color_data: typing_extensions.Union[sensor_msgs.msg.Image, sensor_msgs.msg.CompressedImage], depth_data: typing_extensions.Optional[typing_extensions.Union[sensor_msgs.msg.Image, sensor_msgs.msg.CompressedImage]] = None, cam_info: typing_extensions.Optional[sensor_msgs.msg.CameraInfo] = None) → None¶

Process synchronized camera data.

This callback handles incoming color, depth, and camera info messages. It converts the data to OpenCV format and stores it for later use.

TODO make this generic. handle the encoding and order properly. For standard and compressed images. this might also depend on the fix of image_transport_plugins being published as a package. Startpoint can be found at the bottom of this method.

Parameters:

color_data – Color image message
depth_data – Depth image message
cam_info – Camera calibration message

set_data(cas: robokudo.cas.CAS) → None¶

Parameters:: cas – The CAS where the data should be placed in